System and method for multi-modal control of an autonomous vehicle

• US 7,499,804 B2
• Filed: 10/22/2004
• Issued: 03/03/2009
• Est. Priority Date: 10/22/2004
• Status: Active Grant

• Current Assignee: iRobot Corporation
• Original Assignee: iRobot Corporation
• Inventors: Allard, James, Svendsen, Selma, Filippov, Misha, Barrett, David S., Pack, Robert Todd
• Primary Examiner(s): NGUYEN, TAN QUANG
• Application Number:
  US10/971,718
• Publication Number:
  US 20060089800A1
• Time in Patent Office: 1,593 Days
• Field of Search: 701/301, 701/1, 701/2, 701/50, 701/33, 701/36, 340/903, 340/426.11
• US Class Current: 701/301
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0242 using non-visible light signals, e.g. IR or UV signals
• CPC Class Codes: G05D 1/0248 in combination with a laser lasers per se H01S
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593
• CPC Class Codes: G05D 1/0255 using acoustic signals, e.g. ultra-sonic singals sonar systems designed for anti-collision purposes G01S15/93
• CPC Class Codes: G05D 1/0257 using a radar radar systems designed for anti-collision purposes between land vehicles or between land vehicle and fixed obstacles G01S13/931
• CPC Class Codes: G05D 1/027 comprising intertial navigation means, e.g. azimuth detector inertial navigation G01C21/16; inertial navigation combined with non-inertial navigation instruments G01C21/165
• CPC Class Codes: G05D 1/0272 comprising means for registering the travel distance, e.g. revolutions of wheels measuring distance traversed on the ground by vehicles, e.g. using odometers G01C22/00
• CPC Class Codes: G05D 1/0278 using satellite positioning signals, e.g. GPS

Abstract

System and method for multi-modal control of a vehicle. Actuators (e.g., linkages) manipulate input devices (e.g., articulation controls and drive controls, such as a throttle, brake, accelerator, throttle lever, steering gear, tie rods, or transmission shifter) to direct the operation of the vehicle. Behaviors that characterize the operational mode of the vehicle are associated with the actuators. After receipt of a mode select command that dictates the operational mode of the vehicle (e.g., manned operation, remote unmanned tele-operation, assisted remote tele-operation, and autonomous unmanned operation), the actuators manipulate the operator input devices, in accordance with the behaviors, to affect the desired operational mode.

Claims

1. A vehicle, comprising:

a drive control capable of receiving manual inputs from an operator input device to operate the vehicle in a manual mode;

actuators mated to the drive control, each actuator mated to the drive control by a mechanical linkage that disassociates and reassociates the actuator and drive control, each actuator manipulating the drive control according to communication with a vehicle control program, each actuator associated with an operation mode;

a receiver for receiving commands representative of operation modes, including a remote unmanned teleoperation mode, a manned operation mode, an autonomous unmanned operation mode, and an assisted remote teleoperation mode, a command representative of the assisted remote teleoperation mode enabling local autonomous operation of a first vehicle feature in combination with remote operator control of a second vehicle feature; and

a controller capable of executing the vehicle control program in accordance with the operational mode command that is representative of an operator selected operational mode, the vehicle control program including a vehicle control module that, in cooperation with the controller, dictates control instructions to the vehicle.

2. The vehicle of claim 1, wherein the linkages are configured to maintain an association between the actuators and the drive control and the vehicle is configured to be operated by remote control upon the receiver receiving the command representative of the remote unmanned teleoperation mode.

3. The vehicle of claim 1, wherein the linkages are configured to disassociate the actuators from the drive control and the vehicle is configured to be manually operated upon the receiver receiving the command representative of the manned operation mode.

4. The vehicle of claim 3, wherein the linkages are configured to reassociate the actuators with the drive control to revert the vehicle to autonomous control following the disassociation of the actuators from the drive control.

5. The vehicle of claim 4, wherein the actuators are re-associated with the drive control after a predetermined time delay.

6. The vehicle of claim 3, wherein the vehicle control program further comprises an inhibitor for instructing the linkages to disassociate the actuators from the drive control.

7. The vehicle of claim 1, wherein the last one of the actuators is configured to autonomously operate the vehicle, upon the receiver receiving the command representative of the autonomous unmanned operation mode, by manipulating the drive control in accordance with a task the vehicle is performing and at least one behavior associated with the actuator.

8. The vehicle of claim 1, wherein the vehicle is configured to be operated semi-autonomously, upon the receiver receiving the command representative of the assisted remote teleoperation mode, through operation of the drive control in accordance with at least one remote transmission and at least one behavior associated with an actuator.

9. The vehicle of claim 8, wherein the semi-autonomous operation of the vehicle comprises autonomous operation of certain vehicle features and operator control of other features.

10. The vehicle of claim 9, wherein the operator is located remotely from the vehicle.

11. The vehicle of claim 1, further comprising an articulation control for operating equipment attached to the vehicle.

12. The vehicle of claim 11, wherein the equipment comprises a tilling apparatus.

13. The vehicle of claim 11, wherein the equipment comprises a blade.

14. The vehicle of claim 1, wherein the drive control comprises a throttle.

15. The vehicle of claim 1, wherein the drive control comprises a brake.

16. The vehicle of claim 1, wherein the drive control comprises an accelerator.

17. The vehicle of claim 1, wherein the drive control comprises a transmission shifter.

18. The vehicle of claim 1, wherein the mechanical linkage comprises a lever and pivot joint.

19. The vehicle of claim 1, wherein the mechanical linkage comprises a rack and pinion device.

20. The vehicle of claim 1, wherein the vehicle comprises a tractor.

21. The vehicle of claim 1, wherein the vehicle is a passenger vehicle.